• Journal of the Korean Society of Manufacturing Process Engineers
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• v.10 no.5
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• pp.51-57
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• 2011

The lightweight and compact actuator with high power is required to perform motion with multiple degrees of freedom. To reduce the size and inertia of a robot manipulator, the mechanical transmission system is used. The shape memory alloy(SMA) is similar to the muscle-tendon-bone network of a human hand. However, there are some drawback and nonlinearity, such as the hysteresis and the stress dependence. In this paper, the design of the underactuated robot hand is studied. The 3-finger dexterous hand is driven by the SMA actuator using segmental mechanism. This digital approach enables to overcome the nonlinearity of SMA wire. The translational displacement of SMA actuator required to bend a phalanx of the underactuated robot hand is estimated and the bending angle of the underactuated robot hand according to input displacement of SMA actuator is predicted by the multi-body dynamic analysis.

• Korean Journal of Environmental Biology
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• v.37 no.3
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• pp.343-350
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• 2019

Cyllorhynchites ursulus drills holes in acorn and cuts branches with mandibles. To understand this special behavior, we observed the mouthpart of this species using several microscope methods. The stereoscopic microscope used in this study shows that the adductor tendon is thicker than the abductor tendon which confirms that mandibles exert more force pulling inwards than pushing outwards. Also, the shape and position differences were observed using an optical microscope. We found differences of the shape, position, and movement of mandibles among C. ursulus, Curculio sikkimensis and Paracycnotrachelus longiceps by way of observation using SEM. The width of the adductor tendon and the abductor tendon of males of the C. ursulus species was 32.87 ㎛, and 53.83 ㎛, respectively. And, the width of females was 40.81 ㎛ and 75.55 ㎛, respectively. Based on a variety of observations and analyses, we found that the unusual behavior of C. ursulus is deeply related to the morphological features, and these features could be applied to biomimicry.

• Journal of the Korea Concrete Institute
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• v.21 no.1
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• pp.105-116
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• 2009

Reinforced concrete (RC) structures have been most widely used because of their good economic efficiency. However, it is very weak in tensile stresses and difficult to control deflection due to the heavy self-weight of concrete. On the other hand, it is generally known that prestressed concrete structures can be the most effective to overcome the demerits of RC structures by using various tendon lay-out and its amount. In the prestressed concrete members, the inflection points of tendons should be placed effectively for the deflection control and the moment reduction. Therefore, in this study, the equations of tendon profiles are derived in terms of polynomials that satisfy essential conditions of tendon geometries such as inflection points and natural curved shapes of tendons placed in continuous members, from which vertical components of prestressing forces can be also calculated. The derived high order polynomial expression for the distributed shape of the upward and downward forces was transformed to an simplified equivalent uniform vertical force in order to improve the applicability in the calculation of member deflection. The influences of vertical forces by tendons to deflection and moment in a continuous slab were also considered depending on the distance from column face to the location of tendons. The applicability of the proposed method was examined by an example of deflection calculation for the cases of slabs with and without tendons, and the efficiency of deflection control by tendons was also quantitatively estimated.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.276-280
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• 1993

An articulated, multifinger mechanical hand can carry out grasping and manipulation operations on objects of different type and shape. In this paper the architecture of the mechanical hand is presented. Joints are driven by two antagonist tendons. Strain gauges are used to derive tendon tensions, and located in the palm of the hand. Angular defection of the joints is measured by Hall effect sensors attached to the joints. A multiprocessor-based architecture for controlling the hand is illustrated.

• Structural Engineering and Mechanics
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• v.67 no.3
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• pp.255-265
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• 2018

The prestress force effect on the fundamental frequency and deflection shape of Prestressed Concrete I (PCI) beams was studied in this paper. Currently, due to the conflicts among existing theories, the analytical solution for properly considering the structural behavior of these prestressed members is not clear. A series of experiments were conducted on a large-scale PCI beam of high strength concrete with an eccentric straight unbonded tendon. Specifically, the simply supported PCI beam was subjected to free vibration and three-point bending tests with different prestress forces. Subsequently, the experimental data were compared with analytical results based on the Euler-Bernoulli beam theory. It was proved that the fundamental frequency of PCI beams is unaffected by the increasing applied prestress force, if the variation of the initial elastic modulus of concrete with time is considered. Vice versa, the relationship between the deflection shape and prestress force is well described by the magnification factor formula of the compression-softening theory assuming the secant elastic modulus.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.28 no.6
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• pp.691-697
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• 2015

In this paper, an embedded EM sensor was researched to estimate prestressing force of PS tendon in PSC girder. Recent methodologies for managing prestressing force loss were staying on verifying a applying prestressing force under construction, namely the loss management can not be controlled after construction. To estimate the tensile force of PS tendon during lifetime of PSC girder, this research proposed a bobbin-type embedded EM sensor that can be embedded in PSC girder is designed and fabricated considering the shape properties of anchorage zone and sheath. To verify the proposed sensor, a small PSC girder test was performed. The embedded EM sensor was connected to a sheath and anchor block, and the concrete was poured. After curing, the change of the permeability of PS tendon under tensile forces of 200, 710, 1070, 1300kN was measured using embedded EM sensor. The permeability of PS tendon had decreased according to the increment of applied tensile force. Also it is confirmed that the change of permeability due to applied tensile force could resolve the applied tensile force values. As a result, proposed embedded EM sensor could be embed into the PSC girder and it could be used to estimate the tensile force variation during lifetime of PSC girder.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.31 no.3A
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• pp.163-172
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• 2011

The CFTA girder developed is a concrete filled steel tubular system with arched shape and external post-tensioning (PT) tendons which control the initial camber and the bending stress of the girder. In the present study the effects of the PT tendons on the dynamic behavior of the girder subjected to a moving vehicle load are numerically investigated. Various levels for the tendon quantity and the tendon forces are considered, using the existing FE model of the girder. The vehicle considered is a DB-24 truck and is modeled with two tracks-three axles. Equivalent-load pulse time histories are applied to each node to simulate the moving vehicle, depending on the time of arrival and the discretization. The vehicle speeds are varied from 40 km/hr to 100 km/hr with increment of 20 km/hr. The analysis results show that the tendon forces do not produce any influences on the dynamic responses of the girder. However the dymamic deflection of the girder increases when a smaller amount of tendons is used. The Dynamic Amplification Factors (DAF) are evaluated based on the static and dynamic responses. Much lower values of the DAF are obtained, even no tendons applied, than those provided by the design criteria of the AASHTO LRFD and the Korea Highway Standard Specification.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.31 no.4A
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• pp.279-286
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• 2011

FRP (Fiber Reinforced Polymer) tendons can be used as an alternative to solve the corrosion problem of steel tendons. Material properties of FRP tendons-bond strength, transfer length, development length-must be determined in order to apply to concrete structures. First of all, in case of application for pretension concrete members with CFRP tendons, transfer length is an important characteristic. The bond of the material characteristics should be demanded clearly to apply to PSC structures prestressed with FRP tendons. This paper investigated on the bond characteristics of FRP reinforcements with various surface-type. To determine the bond characteristics of FRP materials used in place of steel reinforcement or prestressing tendon in concrete, pull-out testing suggested by CAN/CSA S806-02 was performed. A total of 40 specimens were made of concrete cube with steel strands, deformed steel bar and 6 different surface shape FRP materials like carbon or E-glass. Results of the bonding tests presented that each specimen showed various behaviors as the bond stress-slip curve and compared with the bond characteristic of CFRP tendon developed in Korea.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.5
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• pp.103-110
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• 2020

Bio-inspired underwater robots have been studied to improve the dynamic performance of fins, such as swimming speed and efficiency, which is the most basic performance. Among them, bio-inspired soft robots with a compliant tail fin can have high degrees of freedom. On the other hand, to improve the driving efficiency of the compliant fins, the stiffness of the tail fin should be changed with the driving frequency. Therefore, a new type of variable stiffness mechanism has been developed and verified. This study, which was inspired by the anatomy of a real dolphin, assessed a process of designing and manufacturing a robotic dolphin with a variable stiffness mechanism. By mimicking the vertebrae of a dolphin, the variable stiffness driving part was manufactured using subtractive and additive manufacturing. A driving tendon was placed considering the location of the tendon in the actual dolphin, and the additional tendon was installed to change its stiffness. A robotic dolphin was designed and manufactured in a streamlined shape, and the swimming speed was measured by varying the stiffness. When the stiffness of the tail fin was varied at the same driving frequency, the swimming speed and thrust changed by approximately 1.24 and 1.5 times, respectively.

• Steel and Composite Structures
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• v.26 no.2
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• pp.213-226
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• 2018

This paper focuses on the seismic protection of slender old masonry structures by the implementation of prestressing devices at key locations. The devices are vertically and externally located inside the towers in order to be reversible and calibrated. An extensive parametric study on a selected slender tower is carried out based on more than 100 nonlinear static simulations aimed at investigating the impact of different parameters on the seismic performance: (i) different prestressing levels; (ii) shape memory alloy superelasticity and (iii) changes in prestressing-forces in all the stages of the analysis until failure and masonry toe crushing. The tendon materials under analysis are conventional prestressing steel, fiber-reinforced polymers of different fibers and shape memory alloys. The parametric study serves to select the most suitable prestressing device and optimal prestressing level able to dissipate more earthquake energy. The seismic energy dissipation is evaluated by comparing the structural capacity curves in original state and retrofitted.